From 9d1d571a8647689e135003f8657bca570425d9c3 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 14 Apr 2023 20:48:27 +0800 Subject: [PATCH] update --- app/MDK-ARM/app.uvguix.h_zha | 42 ++++---------- app/MDK-ARM/app.uvoptx | 38 +++++++----- app/MDK-ARM/app.uvprojx | 13 +++-- dep/libiflytop_micro | 2 +- src/device_io_service.cpp | 119 ++++++++++++++++++++++++++++++++++++++ src/device_io_service.hpp | 57 ++++++++++++++++++ src/libtmcimpl.cpp | 28 +++++++++ src/libtmcimpl.hpp | 34 +++++++++++ src/port.cpp | 134 ------------------------------------------- src/port.hpp | 64 --------------------- src/umain.cpp | 35 ++++++----- 11 files changed, 307 insertions(+), 259 deletions(-) create mode 100644 src/device_io_service.cpp create mode 100644 src/device_io_service.hpp create mode 100644 src/libtmcimpl.cpp create mode 100644 src/libtmcimpl.hpp delete mode 100644 src/port.cpp delete mode 100644 src/port.hpp diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha index 4d3b3b0..774a4dd 100644 --- a/app/MDK-ARM/app.uvguix.h_zha +++ b/app/MDK-ARM/app.uvguix.h_zha @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\dep\libiflytop_micro\stm32\component\tmp117 + D:\workspace\project_boditech_vidas_a8000\Incubator_control_system\src @@ -110,8 +110,8 @@ 0 - 3617 - 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898 @@ -3603,7 +3603,7 @@ 0 100 - 24 + 22 ../Core/Src/main.c 0 @@ -3677,15 +3677,6 @@ 0 - ..\..\src\port.cpp - 3 - 37 - 47 - 1 - - 0 - - ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c 0 315 @@ -3785,15 +3776,6 @@ 0 - ..\..\src\port.hpp - 36 - 14 - 36 - 1 - - 0 - - ..\..\dep\libiflytop_micro\stm32\basic\basic.c 0 1 diff --git a/app/MDK-ARM/app.uvoptx b/app/MDK-ARM/app.uvoptx index cd85c5b..85dab03 100644 --- a/app/MDK-ARM/app.uvoptx +++ b/app/MDK-ARM/app.uvoptx @@ -913,8 +913,8 @@ 0 0 0 - ..\..\src\port.cpp - port.cpp + ..\..\src\umain.cpp + umain.cpp 0 0 @@ -925,8 +925,20 @@ 0 0 0 - ..\..\src\umain.cpp - umain.cpp + ..\..\src\device_io_service.cpp + device_io_service.cpp + 0 + 0 + + + 6 + 41 + 8 + 0 + 0 + 0 + ..\..\src\libtmcimpl.cpp + libtmcimpl.cpp 0 0 @@ -940,7 +952,7 @@ 0 7 - 41 + 42 1 0 0 @@ -952,7 +964,7 @@ 7 - 42 + 43 1 0 0 @@ -964,7 +976,7 @@ 7 - 43 + 44 1 0 0 @@ -976,7 +988,7 @@ 7 - 44 + 45 1 0 0 @@ -988,7 +1000,7 @@ 7 - 45 + 46 8 0 0 @@ -1000,7 +1012,7 @@ 7 - 46 + 47 1 0 0 @@ -1012,7 +1024,7 @@ 7 - 47 + 48 1 0 0 @@ -1024,7 +1036,7 @@ 7 - 48 + 49 8 0 0 @@ -1036,7 +1048,7 @@ 7 - 49 + 50 8 0 0 diff --git a/app/MDK-ARM/app.uvprojx b/app/MDK-ARM/app.uvprojx index 5279e0a..55a79de 100644 --- a/app/MDK-ARM/app.uvprojx +++ b/app/MDK-ARM/app.uvprojx @@ -1211,14 +1211,19 @@ src - port.cpp + umain.cpp 8 - ..\..\src\port.cpp + ..\..\src\umain.cpp - umain.cpp + device_io_service.cpp 8 - ..\..\src\umain.cpp + ..\..\src\device_io_service.cpp + + + libtmcimpl.cpp + 8 + ..\..\src\libtmcimpl.cpp diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro index fb44265..bf2d8c1 160000 --- a/dep/libiflytop_micro +++ b/dep/libiflytop_micro @@ -1 +1 @@ -Subproject commit fb4426557e187f3f0ce98d8220a995f27f6258ad +Subproject commit bf2d8c1c5d3ab028b17d61e3dd6906231115bd82 diff --git a/src/device_io_service.cpp b/src/device_io_service.cpp new file mode 100644 index 0000000..097bad8 --- /dev/null +++ b/src/device_io_service.cpp @@ -0,0 +1,119 @@ +#include "device_io_service.hpp" + +extern "C" { +int fputc(int ch, FILE *stream) { + uint8_t c = ch; + HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100); + return ch; +} +} + +using namespace iflytop; +namespace iflytop { +DeviceIoService deviceIoService; +} +/******************************************************************************* + * 帕尔贴驱动电路 * + *******************************************************************************/ +void DeviceIoService::peltier_cold_ctr_pwm(int pwm) { + __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm); + HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); +} +// PB0 HOT_CTR_PWM0 +void DeviceIoService::peltier_hot_ctr_pwm(int pwm) { + __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, pwm); + HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3); +} +void DeviceIoService::peltier_set_pwm(int pwm) { + /** + * @brief + * + * 待机状态 + * HOT_CTR_PWM0(AL) = 0 + * HOT_CTR(AH) = 0 + * COLD_CTR_PWM0(BL) = 0 + * COLD_CTR(BH) = 0 + * 加热时 + * HOT_CTR_PWM0(AL) = 1(PWM) + * HOT_CTR(AH) = 0 + * COLD_CTR_PWM0(BL) = 0 + * COLD_CTR(BH) = 1(IO/保持) + * 制冷时 + * HOT_CTR_PWM0(AL) = 0 + * HOT_CTR(AH) = 1(IO/保持) + * COLD_CTR_PWM0(BL) = 1(PWM) + * COLD_CTR(BH) = 0 + */ + pwm = pwm * 1000; + if (pwm == 0) { + peltier_hot_ctr_pwm(0); /*HOT_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); /*HOT_CTR*/ + peltier_cold_ctr_pwm(0); /*COLD_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_RESET); /*COLD_CTR*/ + } else if (pwm > 0) { + peltier_hot_ctr_pwm(pwm); /*HOT_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); /*HOT_CTR*/ + peltier_cold_ctr_pwm(0); /*COLD_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_SET); /*COLD_CTR*/ + } else { + peltier_hot_ctr_pwm(0); /*HOT_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET); /*HOT_CTR*/ + peltier_cold_ctr_pwm(-pwm); /*COLD_CTR_PWM0*/ + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_RESET); /*COLD_CTR*/ + } +} +/******************************************************************************* + * tmc芯片驱动相关 * + *******************************************************************************/ +void DeviceIoService::tmc_motor_spi_select(int channel, bool state) { HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, state ? GPIO_PIN_SET : GPIO_PIN_RESET); } +void DeviceIoService::tmc_motor_spi_write_and_read(int channel, uint8_t *data, size_t length) { + if (channel == MOTOR_1_TMC4361A_CHANNEL) { + tmc_motor_spi_select(channel, false); + sleepus(10); + HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000); + tmc_motor_spi_select(channel, true); + } +} +void DeviceIoService::tmc_extern_clk_enable() { +#if 1 + /** + * @brief TMC使用的外部时钟在stm32cubemx中已经进行配置，输出时钟为16MHZ + * 配置可以参考https://iflytop1.feishu.cn/wiki/wikcnog3hFm6dGFLMRksnhLb7Aw + */ +#endif +} + +void port_tmc_nFREEZE_pin_set_state(uint8_t channel, bool state) { + if (channel == MOTOR_1_TMC4361A_CHANNEL) { + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_12, state ? GPIO_PIN_SET : GPIO_PIN_RESET); + } +} +void port_tmc_ENN_pin_set_state(uint8_t channel, bool state) { + if (channel == MOTOR_1_TMC2160_CHANNEL) { + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, state ? GPIO_PIN_SET : GPIO_PIN_RESET); + } +} +void port_tmc_nRESET_pin_set_state(uint8_t channel, bool state) {} +void port_tmc_extern_clk_enable() { +#if 1 + /** + * @brief TMC使用的外部时钟在stm32cubemx中已经进行配置，输出时钟为16MHZ + * 配置可以参考https://iflytop1.feishu.cn/wiki/wikcnog3hFm6dGFLMRksnhLb7Aw + */ +#else + // HAL_TIM_Base_Start(&TMC4361A_CLK_TIMER); + HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_4); +#endif +} + +void DeviceIoService::tmc_nFREEZE_pin_set_state(uint8_t channel, bool state) { + if (channel == MOTOR_1_TMC4361A_CHANNEL) { + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_12, state ? GPIO_PIN_SET : GPIO_PIN_RESET); + } +} +void DeviceIoService::tmc_ENN_pin_set_state(uint8_t channel, bool state) { + if (channel == MOTOR_1_TMC2160_CHANNEL) { + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, state ? GPIO_PIN_SET : GPIO_PIN_RESET); + } +} +void DeviceIoService::tmc_nRESET_pin_set_state(uint8_t channel, bool state) {} diff --git a/src/device_io_service.hpp b/src/device_io_service.hpp new file mode 100644 index 0000000..be9861c --- /dev/null +++ b/src/device_io_service.hpp @@ -0,0 +1,57 @@ +#pragma once +#include +#include + +#include "libiflytop_micro/stm32/basic/basic.h" +#include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp" +#include "libtrinamic/src/ic/tmc2160.hpp" +#include "libtrinamic\src\ic\tmc4361A.hpp" +#include "main.h" +#include "project_board.hpp" +#include "spi.h" +#include "tim.h" +#include "usart.h" + +namespace iflytop { +using namespace std; + +class DeviceIoService : public IflytopMicroOS { + private: + /* data */ + public: + DeviceIoService(/* args */) {} + ~DeviceIoService() {} + + /******************************************************************************* + * 帕尔贴驱动电路 * + *******************************************************************************/ + void peltier_set_pwm(int pwm); + /******************************************************************************* + * tmc芯片驱动相关 * + *******************************************************************************/ + void tmc_motor_spi_write_and_read(int channel, uint8_t *data, size_t length); + void tmc_extern_clk_enable(); + void tmc_nFREEZE_pin_set_state(uint8_t channel, bool state); + void tmc_ENN_pin_set_state(uint8_t channel, bool state); + void tmc_nRESET_pin_set_state(uint8_t channel, bool state); + + /******************************************************************************* + * OVERRIDE IflytopMicroOS * + *******************************************************************************/ + virtual void sleepMS(int ms) { HAL_Delay(ms); }; + virtual uint32_t hasPassedMS(uint32_t ticket) { return sys_haspassedms(ticket); }; + virtual uint32_t getTicket() { return HAL_GetTick(); }; + virtual uint32_t getNowMS() { return HAL_GetTick(); }; + virtual void sleepus(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); } + + private: + // PE9 COLD_CTR_PWM0 + void peltier_cold_ctr_pwm(int pwm); + // PB0 HOT_CTR_PWM0 + void peltier_hot_ctr_pwm(int pwm); + + void tmc_motor_spi_select(int channel, bool state); +}; + +extern DeviceIoService deviceIoService; +} // namespace iflytop \ No newline at end of file diff --git a/src/libtmcimpl.cpp b/src/libtmcimpl.cpp new file mode 100644 index 0000000..371b5f2 --- /dev/null +++ b/src/libtmcimpl.cpp @@ -0,0 +1,28 @@ +#pragma once +#include "libtmcimpl.hpp" + +#include "device_io_service.hpp" +namespace iflytop { +using namespace std; +/******************************************************************************* + * TMC4361AImpl * + *******************************************************************************/ +void TMC4361AImpl::setResetPinState(bool state) { deviceIoService.tmc_nRESET_pin_set_state(m_channel, state); }; +void TMC4361AImpl::setFREEZEPinState(bool state) { deviceIoService.tmc_nFREEZE_pin_set_state(m_channel, state); }; +void TMC4361AImpl::setENNPinState(bool state) { deviceIoService.tmc_ENN_pin_set_state(m_channel, state); }; +bool TMC4361AImpl::getTargetReachedPinState() { return false; }; +void TMC4361AImpl::sleepus(int32_t us) { deviceIoService.sleepus(us); }; +void TMC4361AImpl::readWriteArray(uint8_t *data, size_t length) { // + deviceIoService.tmc_motor_spi_write_and_read(m_channel, data, length); +}; +/******************************************************************************* + * TMC2160Impl * + *******************************************************************************/ +void TMC2160Impl::initialize(uint8_t channel, TMC4361A *tmc4361) { + m_tmc4361 = tmc4361; + TMC2160::initialize(channel); +} +void TMC2160Impl::setENNPinState(bool state) { deviceIoService.tmc_ENN_pin_set_state(m_channel, state); }; +void TMC2160Impl::sleepus(int32_t us) { deviceIoService.sleepus(us); }; +void TMC2160Impl::readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; +} // namespace iflytop \ No newline at end of file diff --git a/src/libtmcimpl.hpp b/src/libtmcimpl.hpp new file mode 100644 index 0000000..b1eb381 --- /dev/null +++ b/src/libtmcimpl.hpp @@ -0,0 +1,34 @@ +#pragma once + +#include "libiflytop_micro/stm32/basic/basic.h" +#include "libtrinamic/src/ic/tmc2160.hpp" +#include "libtrinamic\src\ic\tmc4361A.hpp" +namespace iflytop { +using namespace std; +/** + * @brief 对接TMC4361和硬件的接口 + */ +class TMC4361AImpl : public TMC4361A { + protected: + virtual void setResetPinState(bool state); + virtual void setFREEZEPinState(bool state); + virtual void setENNPinState(bool state); + virtual bool getTargetReachedPinState(); + virtual void sleepus(int32_t us); + virtual void readWriteArray(uint8_t *data, size_t length); +}; +/** + * @brief 对接TMC2160和硬件的接口 + */ +class TMC2160Impl : public TMC2160 { + TMC4361A *m_tmc4361; + + public: + void initialize(uint8_t channel, TMC4361A *tmc4361); + + protected: + virtual void setENNPinState(bool state); + virtual void sleepus(int32_t us); + virtual void readWriteArray(uint8_t *data, size_t length); +}; +} // namespace iflytop \ No newline at end of file diff --git a/src/port.cpp b/src/port.cpp deleted file mode 100644 index 6ebba1d..0000000 --- a/src/port.cpp +++ /dev/null @@ -1,134 +0,0 @@ -#include -#include - -#include "libiflytop_micro/stm32/basic/basic.h" -#include "libtrinamic/src/ic/tmc2160.hpp" -#include "libtrinamic\src\ic\tmc4361A.hpp" -#include "main.h" -#include "project_board.hpp" -#include "spi.h" -#include "tim.h" -#include "usart.h" - -/** - * @brief printf 串口重定向 - * - * @param ch - * @param stream - * @return int - */ -extern "C" { -int fputc(int ch, FILE *stream) { - uint8_t c = ch; - HAL_UART_Transmit(&DEBUG_UART, &c, 1, 100); - return ch; -} -} - -namespace iflytop { -void port_do_debug_light_state() { - static uint32_t lastprocess = 0; - if (sys_haspassedms(lastprocess) > 300) { - lastprocess = HAL_GetTick(); - HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); - } -} -void port_delay_us(uint32_t us) { sys_delay_us(&DELAY_US_TIMER, us); } -void port_spi_cs_select(bool select) { // - HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, select ? GPIO_PIN_SET : GPIO_PIN_RESET); -} -void port_tmc_motor_spi_write_and_read(int channel, uint8_t *data, size_t length) { - // - if (channel == MOTOR_1_TMC4361A_CHANNEL) { - port_spi_cs_select(false); - port_delay_us(1); - HAL_SPI_TransmitReceive(&hspi1, data, data, length, 1000); - port_spi_cs_select(true); - } -} -void port_tmc_nFREEZE_pin_set_state(uint8_t channel, bool state) { - if (channel == MOTOR_1_TMC4361A_CHANNEL) { - HAL_GPIO_WritePin(GPIOE, GPIO_PIN_12, state ? GPIO_PIN_SET : GPIO_PIN_RESET); - } -} -void port_tmc_ENN_pin_set_state(uint8_t channel, bool state) { - if (channel == MOTOR_1_TMC2160_CHANNEL) { - HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, state ? GPIO_PIN_SET : GPIO_PIN_RESET); - } -} -void port_tmc_nRESET_pin_set_state(uint8_t channel, bool state) {} -void port_tmc_extern_clk_enable() { -#if 1 - /** - * @brief TMC使用的外部时钟在stm32cubemx中已经进行配置，输出时钟为16MHZ - * 配置可以参考https://iflytop1.feishu.cn/wiki/wikcnog3hFm6dGFLMRksnhLb7Aw - */ -#else - // HAL_TIM_Base_Start(&TMC4361A_CLK_TIMER); - HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_4); -#endif -} -#if 0 -int32_t port_tmc4361_get_version(uint8_t channel) { - int value; - uint8_t data[5]; - data[0] = 0x7f; - port_tmc_motor_spi_write_and_read(&data[0], 5); - value = ((uint32_t)data[1] << 24) | ((uint32_t)data[2] << 16) | (data[3] << 8) | data[4]; - return value; -} -#endif - -// PE9 COLD_CTR_PWM0 -static void port_peltier_cold_ctr_pwm(int pwm) { - __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, pwm); - HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); -} -// PB0 HOT_CTR_PWM0 -static void port_peltier_hot_ctr_pwm(int pwm) { - __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, pwm); - HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3); -} - -void port_peltier_set_pwm(int pwm) { - /** - * @brief - * - * 待机状态 - * HOT_CTR_PWM0(AL) = 0 - * HOT_CTR(AH) = 0 - * COLD_CTR_PWM0(BL) = 0 - * COLD_CTR(BH) = 0 - * 加热时 - * HOT_CTR_PWM0(AL) = 1(PWM) - * HOT_CTR(AH) = 0 - * COLD_CTR_PWM0(BL) = 0 - * COLD_CTR(BH) = 1(IO/保持) - * 制冷时 - * HOT_CTR_PWM0(AL) = 0 - * HOT_CTR(AH) = 1(IO/保持) - * COLD_CTR_PWM0(BL) = 1(PWM) - * COLD_CTR(BH) = 0 - */ - - pwm = pwm * 1000; - - if (pwm == 0) { - port_peltier_hot_ctr_pwm(0); /*HOT_CTR_PWM0*/ - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); /*HOT_CTR*/ - port_peltier_cold_ctr_pwm(0); /*COLD_CTR_PWM0*/ - HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_RESET); /*COLD_CTR*/ - } else if (pwm > 0) { - port_peltier_hot_ctr_pwm(pwm); /*HOT_CTR_PWM0*/ - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET); /*HOT_CTR*/ - port_peltier_cold_ctr_pwm(0); /*COLD_CTR_PWM0*/ - HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_SET); /*COLD_CTR*/ - } else { - port_peltier_hot_ctr_pwm(0); /*HOT_CTR_PWM0*/ - HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET); /*HOT_CTR*/ - port_peltier_cold_ctr_pwm(-pwm); /*COLD_CTR_PWM0*/ - HAL_GPIO_WritePin(GPIOE, GPIO_PIN_10, GPIO_PIN_RESET); /*COLD_CTR*/ - } -} - -} // namespace iflytop diff --git a/src/port.hpp b/src/port.hpp deleted file mode 100644 index 508034b..0000000 --- a/src/port.hpp +++ /dev/null @@ -1,64 +0,0 @@ -#include -#include - -#include "libiflytop_micro\stm32\basic\iflytop_micro_os.hpp" -namespace iflytop { -void port_do_debug_light_state(); -void port_delay_us(uint32_t us); - -/******************************************************************************* - * IflytopMicroOS对接 * - *******************************************************************************/ -class IflytopMicroOSImpl : public IflytopMicroOS { - public: - virtual void sleepMS(int ms) { HAL_Delay(ms); }; - virtual uint32_t hasPassedMS(uint32_t ticket) { return sys_haspassedms(ticket); }; - virtual uint32_t getTicket() { return HAL_GetTick(); }; - virtual uint32_t getNowMS() { return HAL_GetTick(); }; -}; - -/******************************************************************************* - * 帕尔贴驱动电路 * - *******************************************************************************/ -void port_peltier_set_pwm(int pwm); -/******************************************************************************* - * tmc芯片驱动相关 * - *******************************************************************************/ -void port_tmc_motor_spi_write_and_read(int channel, uint8_t *data, size_t length); -void port_tmc_extern_clk_enable(); -void port_tmc_nFREEZE_pin_set_state(uint8_t channel, bool state); -void port_tmc_ENN_pin_set_state(uint8_t channel, bool state); -void port_tmc_nRESET_pin_set_state(uint8_t channel, bool state); -int32_t port_tmc4361_get_version(uint8_t channel); -/** - * @brief 对接TMC4361和硬件的接口 - */ -class TMC4361AImpl : public TMC4361A { - protected: - virtual void setResetPinState(bool state) { port_tmc_nRESET_pin_set_state(m_channel, state); }; - virtual void setFREEZEPinState(bool state) { port_tmc_nFREEZE_pin_set_state(m_channel, state); }; - virtual void setENNPinState(bool state) { port_tmc_ENN_pin_set_state(m_channel, state); }; - virtual bool getTargetReachedPinState() { return false; }; - virtual void sleepus(int32_t us) { port_delay_us(us); }; - virtual void readWriteArray(uint8_t *data, size_t length) { // - port_tmc_motor_spi_write_and_read(m_channel, data, length); - }; -}; -/** - * @brief 对接TMC2160和硬件的接口 - */ -class TMC2160Impl : public TMC2160 { - TMC4361A *m_tmc4361; - - public: - void initialize(uint8_t channel, TMC4361A *tmc4361) { - m_tmc4361 = tmc4361; - TMC2160::initialize(channel); - } - - protected: - virtual void setENNPinState(bool state) { port_tmc_ENN_pin_set_state(m_channel, state); }; - virtual void sleepus(int32_t us) { port_delay_us(us); }; - virtual void readWriteArray(uint8_t *data, size_t length) { m_tmc4361->readWriteCover(data, length); }; -}; -} // namespace iflytop \ No newline at end of file diff --git a/src/umain.cpp b/src/umain.cpp index ce0e67b..463d7c5 100644 --- a/src/umain.cpp +++ b/src/umain.cpp @@ -1,10 +1,11 @@ #include #include +#include "device_io_service.hpp" #include "libiflytop_micro\stm32\basic\basic.h" +#include "libtmcimpl.hpp" #include "libtrinamic/src/ic/tmc2160.hpp" #include "libtrinamic\src\ic\tmc4361A.hpp" -#include "port.hpp" #include "project_board.hpp" // #include "i2c.h" @@ -17,11 +18,11 @@ using namespace iflytop; using namespace std; class Main { public: - TMC4361AImpl tmc4361motor1; - TMC2160Impl tmc2160motor1; - TMP117 tmp117[4]; - IflytopCanSlave canSlaveService; - IflytopMicroOSImpl os; + TMC4361AImpl tmc4361motor1; + TMC2160Impl tmc2160motor1; + TMP117 tmp117[4]; + IflytopCanSlave canSlaveService; + IflytopMicroOS *os; bool canOnRxDataFlag; @@ -42,9 +43,17 @@ class Main { */ void testCanSlaveTxAndRx(); void testTmp117(); + void do_debug_light_state() { + static uint32_t lastprocess = 0; + if (sys_haspassedms(lastprocess) > 300) { + lastprocess = HAL_GetTick(); + HAL_GPIO_TogglePin(DEBUG_LIGHT_PORT, DEBUG_LIGHT_PIN); + } + } }; void Main::initialize() { + os = &deviceIoService; /******************************************************************************* * 温度传感器初始化 * *******************************************************************************/ @@ -56,7 +65,7 @@ void Main::initialize() { /******************************************************************************* * 电机初始化 * *******************************************************************************/ - port_tmc_extern_clk_enable(); + deviceIoService.tmc_extern_clk_enable(); // 4361初始化 TMC4361AImpl::TMC4361AConfig_t *tmc4361aconfig = TMC4361AImpl::createDeafultTMC4361AConfig(); tmc4361aconfig->base_config.fs_per_rev = 200; @@ -91,7 +100,7 @@ void Main::initialize() { * CANSLAVEService初始化 * *******************************************************************************/ IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID); - canSlaveService.initialize(&os, config); + canSlaveService.initialize(os, config); canSlaveService.onCanRxData.connect(this, &Main::onCanRxData); canSlaveService.activateRxIT(); } @@ -102,7 +111,7 @@ void Main::main(int argc, char const *argv[]) { // port_peltier_set_pwm(0); initialize(); while (true) { - port_do_debug_light_state(); + do_debug_light_state(); // testCanSlaveTxAndRx(); // testTmp117(); } @@ -119,8 +128,8 @@ void Main::testCanSlaveTxAndRx() { { static uint32_t lastcall; static uint8_t tx[8] = {1, 2, 3, 4, 5, 6, 7, 8}; - if (os.hasPassedMS(lastcall) > 1000) { - lastcall = os.getTicket(); + if (os->hasPassedMS(lastcall) > 1000) { + lastcall = os->getTicket(); canSlaveService.translate(0x01, tx, 8, 2); if (canSlaveService.getLastTransmitStatus() == HAL_OK) { ZLOGI(TAG, "send ok"); @@ -148,8 +157,8 @@ void Main::testCanSlaveTxAndRx() { void Main::testTmp117() { static uint32_t lastcall; - if (os.hasPassedMS(lastcall) > 1000) { - lastcall = os.getTicket(); + if (os->hasPassedMS(lastcall) > 1000) { + lastcall = os->getTicket(); for (size_t i = 0; i < 4; i++) { float temp = tmp117[i].getTemperature(); if (tmp117[i].getLastCallStatus() == HAL_OK) {